CN111713201A - Agricultural machine rear suspension automatic leveling device - Google Patents
Agricultural machine rear suspension automatic leveling device Download PDFInfo
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- CN111713201A CN111713201A CN202010767869.4A CN202010767869A CN111713201A CN 111713201 A CN111713201 A CN 111713201A CN 202010767869 A CN202010767869 A CN 202010767869A CN 111713201 A CN111713201 A CN 111713201A
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- leveling
- oil cylinder
- agricultural machine
- agricultural
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B63/00—Lifting or adjusting devices or arrangements for agricultural machines or implements
- A01B63/02—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors
- A01B63/12—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors operated by an electric motor
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B63/00—Lifting or adjusting devices or arrangements for agricultural machines or implements
- A01B63/02—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors
- A01B63/04—Hand devices; Hand devices with mechanical accumulators, e.g. springs
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Lifting Devices For Agricultural Implements (AREA)
Abstract
The invention discloses an automatic leveling device for a rear suspension of agricultural machinery, which comprises a gyroscope, an upper leveling oil cylinder and a side leveling mechanism, wherein the upper leveling oil cylinder is used for driving an agricultural tool to level in the longitudinal direction of a vehicle body; a side leveling oil cylinder is arranged in the side leveling mechanism, and the upper leveling oil cylinder and the side leveling oil cylinder are controlled by an electromagnetic directional valve to enter and exit oil; the gyroscope is used for receiving an angle generated by inclination of the suspended farm tool during field work, outputting a control signal to the motor driver, and controlling the on-off of each electromagnetic directional valve by the motor driver. The agricultural machine leveling device can be effectively applied to agricultural machinery, the horizontal operation of the suspended agricultural implement is kept during field operation, the leveling precision is high, the structure is compact, the tilling depth of the suspended agricultural implement can be controlled by adjusting the transverse and longitudinal angles of the suspended agricultural implement, the working requirement of the agricultural machinery is met, and the practicability is high.
Description
Technical Field
The invention relates to the field of automatic control of agricultural equipment, in particular to an automatic leveling device for a rear suspension of agricultural machinery.
Background
Because the field depression in farmland is uneven, the automobile body can not keep level when agricultural machine works in the field, and the agricultural implement that hangs also produces the slope. The automatic horizontal suspension device can ensure that the suspended farm tool can still keep horizontal work under the condition that the vehicle body is inclined, thereby improving the farm field operation quality and reducing the frequency of frequently and stably adjusting operation by operators; meanwhile, the phenomenon that the stress is uneven due to the fact that the internal structure of the farm tool is in an inclined state is also prevented, and the tension rod is broken when the stress exceeds the designed load. Patent No. 201410360990.X discloses a four-way balance mechanism of a rotary cultivator and a control method thereof, wherein a method of replacing one lifting rod with a balance oil cylinder is adopted, and horizontal control of suspended farm implements can be realized in the working principle. However, when the agricultural machine works, the small-amplitude vibration of the agricultural machine cannot be avoided, and the balance effect is greatly influenced and the balance precision is lowered due to the fact that only one balance oil cylinder is arranged.
At present, with the continuous development of intelligent agriculture and precision agriculture, the rear suspension automatic horizontal device of the agricultural machine becomes one of the basic functions of the agricultural machine. However, many automated horizontal methods or devices cannot be applied to the rear suspension mechanism due to the complex terrain in the field and the factors of the agricultural machinery itself. Therefore, how to improve the automatic level adjustment function of the suspended farm tool so that the rear suspended automatic level device of the agricultural machine can quickly level any suspended farm tool is a problem to be solved in the invention.
Disclosure of Invention
The invention aims to provide an automatic leveling device for a rear suspension of agricultural machinery, aiming at the defects that the field conditions are complex, the suspended agricultural implement cannot be kept in horizontal operation, the working efficiency is low and the prior art is not perfect, the automatic leveling device can be effectively applied to the agricultural machinery, can keep the horizontal operation of the suspended agricultural implement during the field operation, has high leveling precision and compact structure, and can control the tilling depth of the suspended agricultural implement and meet the working requirements of the agricultural machinery by adjusting the transverse and longitudinal angles of the suspended agricultural implement.
In order to achieve the purpose, the invention provides the following scheme:
the invention provides a rear suspension automatic leveling device of agricultural machinery, which comprises a gyroscope, an upper leveling oil cylinder and a side leveling mechanism, wherein the upper leveling oil cylinder is used for driving an agricultural tool to level in the longitudinal direction of a vehicle body; a side leveling oil cylinder is arranged in the side leveling mechanism, and the upper leveling oil cylinder and the side leveling oil cylinder are controlled by an electromagnetic directional valve to enter and exit oil; the gyroscope is used for receiving an angle generated by inclination of the suspended farm tool during field work, outputting a control signal to the motor driver, and controlling the on-off of each electromagnetic directional valve by the motor driver.
Optionally, one end of the upper leveling cylinder is hinged to the rear portion of the agricultural machine, and the other end of the upper leveling cylinder is connected with an agricultural implement in a hanging mode.
Optionally, the side leveling mechanism comprises a lifting arm, a lifting cylinder, a leveling cylinder and a lower pull rod; one end of the lifting arm is hinged to the rear part of the agricultural machine, and the other end of the lifting arm is hinged to one end of the leveling oil cylinder; one end of the lifting oil cylinder is hinged to the middle part of the lifting arm, and the other end of the lifting oil cylinder is hinged to the rear part of the agricultural machine; one end of the lower pull rod is hinged to the rear part of the agricultural machine, and the other end of the lower pull rod is connected with an agricultural implement in a hanging mode; the other end of the leveling oil cylinder is hinged to the middle of the lower pull rod.
Optionally, the agricultural machinery further comprises a lifting arm shaft, and the lifting arm shaft is hinged to the rear part of the agricultural machinery; and two ends of the lifting arm shaft are connected with a group of side leveling mechanisms.
Optionally, two ends of the lifting arm shaft are respectively fixedly connected with an end of one lifting arm.
Optionally, the upper leveling cylinder is connected with a hydraulic system of the agricultural machine through front and rear electromagnetic directional valves.
Optionally, the leveling cylinder is connected with a hydraulic system of the agricultural machine through a left electromagnetic directional valve and a right electromagnetic directional valve.
Optionally, the lifting oil cylinder is connected with a hydraulic system of the agricultural machine through a lifting electromagnetic directional valve.
Optionally, the gyroscope is mounted on a suspended farm implement.
Optionally, the agricultural machine is a tractor; each leveling oil cylinder is assembled and connected with the rear part of the tractor through a connecting frame.
Compared with the prior art, the invention has the following technical effects:
in the agricultural machinery rear suspension automatic leveling device provided by the invention, after the gyroscope receives an angle generated by inclination of a suspended farm tool during field work, a control signal is output to the motor driver, the motor driver controls the oil inlet and outlet of each leveling oil cylinder by controlling the switch of each electromagnetic directional valve, and when the gyroscope detects that the suspended farm tool is within a horizontal acceptable error, the control of the leveling oil cylinders is stopped. The invention can horizontally adjust the suspended farm tool according to the position relation of four points of the suspended farm tool, so that the suspended farm tool reaches the expected horizontal range.
The invention has the advantages and beneficial effects that:
the oil inlet and outlet of the leveling oil cylinder are controlled by the electromagnetic directional valve, the control method is simple and flexible, and the debugging and installation are convenient, so that the overall cost of the rear suspension automatic leveling device of the agricultural machine can be reduced, and the practical application and the industrialized development of the rear suspension automatic leveling operation of the agricultural machine are promoted;
secondly, the leveling oil cylinder and the rear part of the agricultural machine can be assembled and connected through a connecting frame, so that the structure is compact and the popularization is convenient;
the conversion between manual leveling and automatic leveling can be realized; under emergency, the automatic control can be ended emergently, the angle for suspending the farm tool after manual operation is changed, the overall structure is compact, and the installation method is simple.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic view of the installation structure of the rear suspension automatic leveling device of the agricultural machine of the present invention;
FIG. 2 is a schematic structural diagram of the rear suspension automatic leveling device of the agricultural machine according to the present invention;
FIG. 3 is a connection diagram of a hydraulic oil circuit of the agricultural machine rear suspension automatic leveling device of the present invention;
wherein the reference numerals are: 1. an upper leveling oil cylinder; 2. a right lift arm; 3. a right lift cylinder; 4. a right leveling cylinder; 5. a right lower tie rod; 6. a left lower tie rod; 7. a left leveling cylinder; 8. a left lift arm; 9. a left lift cylinder; 10. a lift arm shaft; 11. a tractor rear; 12-1, front and back electromagnetic directional valves; 12-2, lifting electromagnetic directional valves; 12-3, left and right electromagnetic directional valves; 13. a hydraulic pump; 14. a hydraulic oil tank; 15. an overflow valve; 16. a motor; 17. and a leveling solenoid valve.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a rear suspension automatic leveling device of agricultural machinery, which can be effectively applied to the agricultural machinery, keeps horizontal operation of suspended agricultural implements during field operation, has high leveling precision and compact structure, and can control the tilling depth of the suspended agricultural implements by adjusting the transverse and longitudinal angles of the suspended agricultural implements so as to meet the working requirements of the agricultural machinery.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
The first embodiment is as follows:
as shown in fig. 1-2, in the embodiment, the automatic leveling device for the rear suspension of the tractor based on hydraulic regulation is provided, because the two sides of the rear portion 11 of the tractor are respectively provided with the side leveling mechanisms for driving farm implements to level in the horizontal direction, and the two sets of side leveling mechanisms are symmetrically arranged, in order to distinguish, the two sets of side leveling mechanisms are respectively distinguished as left and right. Based on the above, the tractor rear suspension automatic leveling device mainly comprises an upper leveling cylinder 1, a right lifting arm 2, a right lifting cylinder 3, a right leveling cylinder 4, a right lower pull rod 5, a left lower pull rod 6, a left leveling cylinder 7, a left lifting arm 8, a left lifting cylinder 9, a lifting arm shaft 10 and a plurality of hydraulic control valves. Wherein: one end of the upper leveling oil cylinder 1 is hinged at the rear part of the tractor, and the lifting arm shaft 10 is hinged with the rear part of the tractor; one end of the left lifting arm 8 is fixedly connected with the left end of the lifting arm shaft 10, and one end of the right lifting arm 2 is fixedly connected with the right end of the lifting arm shaft 10; one end of the left lifting oil cylinder 9 is hinged with the rear part of the tractor, the other end of the left lifting oil cylinder is hinged with the left lifting arm 8, and the hinged point is a point d; one end of the right lifting oil cylinder 3 is hinged with the rear part of the tractor, the other end of the right lifting oil cylinder is hinged with the right lifting arm 2, and the hinged point is a point c; one end of the left lower pull rod 6 and one end of the right lower pull rod 5 are hinged with the rear part of the tractor, and the hinged points are respectively a point f and a point e; one end of the left leveling oil cylinder 7 is hinged with the other end of the left lifting arm 8, the other end of the left leveling oil cylinder is hinged with the middle part of the left lower pull rod 6, and the hinged point is a point h; one end of the right leveling oil cylinder 4 is hinged with the other end of the right lifting arm 2, the other end of the right leveling oil cylinder is hinged with the middle part of the right lower pull rod 5, and the hinged point is a point g.
In this embodiment, as shown in fig. 1-3, a gyroscope (not shown) is fixed on the suspended farm tool, and the left lower link 6, the right lower link 5 and the other end of the upper leveling cylinder 1 are all used to hang the farm tool in the existing installation manner. The upper leveling oil cylinder 1 is connected with a hydraulic system on the tractor through a front and back leveling electromagnetic valve 12-1; the left leveling oil cylinder 7 and the right leveling oil cylinder 4 are connected with a hydraulic system on the tractor through a left leveling electromagnetic valve 12-3 and a right leveling electromagnetic valve 12-3; the right lifting oil cylinder 3 and the left lifting oil cylinder 9 are connected with a hydraulic system on the tractor through a lifting electromagnetic valve 12-2. When the gyroscope receives the inclination state of the suspended farm tool, the right leveling oil cylinder 4 and the left leveling oil cylinder 7 are driven by the corresponding electromagnetic directional valves to enter and exit oil, so that the right lower pull rod 5 and the left lower pull rod 6 are driven to move up and down, and the right lower pull rod 5 and the left lower pull rod 6 drive the suspended farm tool to level in the horizontal direction; after the heights of the left lifting cylinder 9 and the right lifting cylinder 3 are specified, leveling of the suspended farm tool in the horizontal direction can be performed. The upper leveling oil cylinder 1 controls the leveling of the suspended farm tool in the longitudinal direction of the vehicle body through a hinge point with the suspended farm tool, and further can control the tilling depth of the suspended farm tool during working.
In this embodiment, as shown in fig. 3, a leveling solenoid valve 17 is further connected between the right leveling cylinder 4 and the left leveling cylinder 7, and the left and right electromagnetic directional valves 12-3, and the leveling solenoid valve is preferably an M-type three-position four-way valve. In this embodiment, each of the electromagnetic directional valves is preferably mounted on the tractor frame, and the connection mode between each of the electromagnetic directional valves and the corresponding oil cylinder and the hydraulic system is specifically as shown in fig. 3.
In this embodiment, as shown in fig. 3, the hydraulic system is formed by connecting a hydraulic pump 13, an overflow valve 15 and a hydraulic oil tank 14 in series via a hydraulic oil path, and the hydraulic pump 13 is in power connection with a motor 16. The hydraulic power of the whole oil cylinder assembly is derived from a tractor fuel engine, and the specific connection mode adopts the prior art, so that the detailed description is omitted.
The following is a description of the specific operation principle of the present embodiment.
And after receiving the angle generated by inclination of the suspended farm tool in the field, which is detected by the gyroscope, the electronic control element outputs a control signal to the motor 16, the motor 16 controls the on-off of each electromagnetic directional valve through the hydraulic system, and the electromagnetic directional valves can control oil inlet and outlet of the corresponding leveling oil cylinders. When the gyroscope detects that the suspended farm tool is within the acceptable error of the level, the control of the leveling oil cylinder is stopped. The horizontal adjustment of the farm tool is carried out through the position relation of four points of the suspended farm tool, so that the suspended farm tool reaches an expected horizontal range.
Wherein, above-mentioned electronic control component is current controlling means, but preferred PLC single chip microcomputer control system, and this system adopts current mode to carry out electric connection with gyroscope and hydraulic pressure leveling assembly to can realize above-mentioned leveling function of this embodiment and be accurate, no longer repeated here.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein, and any reference signs in the claims are not intended to be construed as limiting the claim concerned.
The principle and the implementation mode of the invention are explained by applying a specific example, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (10)
1. The utility model provides a hang automatic levelling device behind agricultural machine which characterized in that: the device comprises a gyroscope, an upper leveling oil cylinder and a side leveling mechanism, wherein the upper leveling oil cylinder is used for driving the farm tool to level the vehicle body in the longitudinal direction; a side leveling oil cylinder is arranged in the side leveling mechanism, and the upper leveling oil cylinder and the side leveling oil cylinder are controlled by an electromagnetic directional valve to enter and exit oil; the gyroscope is used for receiving an angle generated by inclination of the suspended farm tool during field work, outputting a control signal to the motor driver, and controlling the on-off of each electromagnetic directional valve by the motor driver.
2. The agricultural machine rear suspension automatic leveling device according to claim 1, characterized in that: one end of the upper leveling oil cylinder is hinged to the rear part of the agricultural machine, and the other end of the upper leveling oil cylinder is connected with an agricultural implement in a hanging mode.
3. The agricultural machine rear suspension automatic leveling device according to claim 1, characterized in that: the side leveling mechanism comprises a lifting arm, a lifting oil cylinder, a leveling oil cylinder and a lower pull rod; one end of the lifting arm is hinged to the rear part of the agricultural machine, and the other end of the lifting arm is hinged to one end of the leveling oil cylinder; one end of the lifting oil cylinder is hinged to the middle part of the lifting arm, and the other end of the lifting oil cylinder is hinged to the rear part of the agricultural machine; one end of the lower pull rod is hinged to the rear part of the agricultural machine, and the other end of the lower pull rod is connected with an agricultural implement in a hanging mode; the other end of the leveling oil cylinder is hinged to the middle of the lower pull rod.
4. The agricultural machine rear suspension automatic leveling device according to claim 3, characterized in that: the lifting arm shaft is hinged to the rear part of the agricultural machine; and two ends of the lifting arm shaft are connected with a group of side leveling mechanisms.
5. The agricultural machine rear suspension automatic leveling device according to claim 4, characterized in that: and two ends of the lifting arm shaft are respectively fixedly connected with the end part of one lifting arm.
6. An agricultural machine rear suspension auto-leveling device according to claim 1 or 2, wherein: and the upper leveling oil cylinder is connected with a hydraulic system of the agricultural machine through a front electromagnetic directional valve and a rear electromagnetic directional valve.
7. The agricultural machine rear suspension automatic leveling device according to claim 3, characterized in that: and the leveling oil cylinder is connected with a hydraulic system of the agricultural machine through a left electromagnetic directional valve and a right electromagnetic directional valve.
8. The agricultural machine rear suspension automatic leveling device according to claim 3, characterized in that: the lifting oil cylinder is connected with a hydraulic system of the agricultural machine through a lifting electromagnetic directional valve.
9. The agricultural machine rear suspension automatic leveling device according to claim 1, characterized in that: the gyroscope is installed on the suspended farm tool.
10. The agricultural machine rear suspension automatic leveling device according to claim 1, characterized in that: the agricultural machine is a tractor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010767869.4A CN111713201A (en) | 2020-08-03 | 2020-08-03 | Agricultural machine rear suspension automatic leveling device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010767869.4A CN111713201A (en) | 2020-08-03 | 2020-08-03 | Agricultural machine rear suspension automatic leveling device |
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| Publication Number | Publication Date |
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| CN111713201A true CN111713201A (en) | 2020-09-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010767869.4A Withdrawn CN111713201A (en) | 2020-08-03 | 2020-08-03 | Agricultural machine rear suspension automatic leveling device |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112913366A (en) * | 2021-01-25 | 2021-06-08 | 陈德富 | Agricultural machine capable of being dynamically leveled and control method thereof |
| CN113016249A (en) * | 2021-03-01 | 2021-06-25 | 伊犁师范大学 | Agricultural machine rear suspension automatic leveling device |
| CN114467394A (en) * | 2022-02-14 | 2022-05-13 | 广东皓行科技有限公司 | Suspension lifting automatic balancing system and control method thereof |
| CN115997510A (en) * | 2023-02-03 | 2023-04-25 | 中国农业大学 | Novel electrohydraulic leveling suspension system of electric tractor and control method thereof |
| CN117643206A (en) * | 2023-12-05 | 2024-03-05 | 上海联适导航技术股份有限公司 | Unmanned farm tool mounting vehicle |
-
2020
- 2020-08-03 CN CN202010767869.4A patent/CN111713201A/en not_active Withdrawn
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112913366A (en) * | 2021-01-25 | 2021-06-08 | 陈德富 | Agricultural machine capable of being dynamically leveled and control method thereof |
| CN113016249A (en) * | 2021-03-01 | 2021-06-25 | 伊犁师范大学 | Agricultural machine rear suspension automatic leveling device |
| CN114467394A (en) * | 2022-02-14 | 2022-05-13 | 广东皓行科技有限公司 | Suspension lifting automatic balancing system and control method thereof |
| CN115997510A (en) * | 2023-02-03 | 2023-04-25 | 中国农业大学 | Novel electrohydraulic leveling suspension system of electric tractor and control method thereof |
| CN115997510B (en) * | 2023-02-03 | 2024-07-23 | 中国农业大学 | Electro-hydraulic leveling suspension system of electric tractor and control method thereof |
| CN117643206A (en) * | 2023-12-05 | 2024-03-05 | 上海联适导航技术股份有限公司 | Unmanned farm tool mounting vehicle |
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Application publication date: 20200929 |